US20230285100A1 - End effector force feedback to master controller - Google Patents

Abstract

A teleoperated surgical system is provided that includes a surgical instrument that includes an end effector mounted for rotation about a slave pivot axis; a master control input includes a mount member, first and second master grip rotatably secured at the mount member for rotation about a master pivot axis; sensor to produce a sensor signal indicative of a slave grip counter-force about the slave pivot axis; one or more motors to impart a shear force to the mount member, perpendicular to the master pivot axis; one or more processors to convert the sensor signal to motor control signals to cause the motors to impart the feedback shear force to the first and second master grip members.

Description

RELATED APPLICATIONS
• This application is a continuation of U.S. Application No. 16/753,298, filed on Apr. 2, 2020, and published as US 2020/0237461 A1 on Jul. 30, 2020, which is a U.S. National Stage Filing under 35 U.S.C. 371 from International Application No. PCT/US2018/053998, filed on Oct. 2, 2018, and published as WO 2019/070734 A1 on Apr. 11, 2019, which claims the benefit of priority to U.S. Provisional Patent Application Serial No. 62/567,005, filed on Oct. 2, 2017, each of which is incorporated by reference herein in its entirety.
BACKGROUND
• Minimally invasive medical techniques are intended to reduce the amount of tissue that is damaged during diagnostic or surgical procedures, thereby reducing patient recovery time, discomfort, and deleterious side effects. Teleoperated surgical systems that use robotic technology (so-called surgical robotic systems) may be used to overcome limitations of manual laparoscopic and open surgery. Advances in telepresence systems provide surgeons views inside a patient’s body, an increased number of degrees of motion of surgical instruments, and the ability for surgical collaboration over long distances. In manual minimally invasive surgery, surgeons feel the interaction of the instrument with the patient via a long shaft, which eliminates tactile cues and masks force cues. In teleoperation surgery systems, natural force feedback is largely eliminated because the surgeon no longer manipulates the instrument directly. Kinesthetic or force feedback systems typically measure or estimate the forces applied to the patient by the surgical instrument.
SUMMARY
• In one aspect, a teleoperated surgical system is provided that includes a surgical instrument that includes a shaft, an end effector that includes a first cantilever beam, mounted for rotation about a slave pivot axis disposed at the distal end portion of the shaft. A master control input includes a mount member and a first master grip member mounted upon the mount member for a direction of movement along a first path relative to the mount member. A sensor is configured to sense a magnitude of produce a slave cantilever beam force. One or more actuators are configurable to impart a force to the mount member. One or more processors are configured to cause the one or more acutators to impart a feedback force to the mount member, having a magnitude indicative of the magnitude of the slave cantilever beam force and having a direction of movement along a second path separate from the first path.
• In another aspect, a method is provided to provide at a master control input an indication of a grip force at a slave end effector portion mounted to a distal end of a surgical instrument shaft in which the master control input includes a mount member and a first master grip member, mounted for a direction of movement along a first path. The method includes producing a sensor signal indicative of magnitude of a grip moment about a slave pivot axis of the end effector and producing a feedback force at the mount member, having a magnitude based upon the sensor signal and having a direction of movement along a second path separate from the first path.
BRIEF DESCRIPTION OF THE DRAWINGS
• Aspects of the present disclosure are best understood from the following detailed description when read with the accompanying figures. It is emphasized that, in accordance with the standard practice in the industry, various features are not drawn to scale. In fact, the dimensions of the various features may be arbitrarily increased or reduced for clarity of discussion. In addition, the present disclosure may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.
• FIG.1 is an illustrative plan view of a minimally invasive teleoperated surgical system in accordance with some embodiments.
• FIG.2 is a perspective view of the surgeon’s console of the system ofFIG.1.
• FIG.3 is a perspective view of a patient-side cart of the system ofFIG.1.
• FIG.4 is a perspective view of a surgical instrument in accordance with some embodiments.
• FIG.5 is an illustrative perspective showing details of a master control input mounted upon a gimbal assembly within thesurgeon consloe16 ofFIG.2 in accordacne with some embodiments.
• FIG.6 is an illustrative side cross-section partially transparent view of an end effector of the surgical instrument ofFIG.4 in accordance with some embodiments.
• FIG.7 is an illustrative side view of the chassis of the surgical instrument ofFIG.4 suspended from a support beam in accordance with some embodiments.
• FIG.8 is an illustrative free body diagram to show forces upon grip members of the master control input ofFIG.5 and a surgeon’s fingers in accordance with some embodiments.
• FIG.9 is an illustrative control system flow diagram representing a transformation of a reactive beam force to a feedback force in accordance with some embodiments.
DESCRIPTION OF EMBODIMENTSTeleoperated Surgical System
• FIG.1 is an illustrative plan view of a minimally invasive teleoperatedsurgical system10 for performing a minimally invasive diagnostic or surgical procedure on apatient12 who is lying on an operating table14. The system includes a surgeon’sconsole16 for use by asurgeon18 during the procedure. One ormore assistants20 also may participate in the procedure. The minimally invasive teleoperatedsurgical system10 further includes one or more patient-side cart (PSC)22 and anelectronics cart24. The patient-side cart22 can manipulate at least onesurgical instrument26 through a minimally invasive incision in the body of thepatient12 while thesurgeon18 views the surgical site through the surgeon’sconsole16. An image of the surgical site can be obtained by anendoscope28, such as a stereoscopic endoscope, which may be manipulated by the patient-side cart22 to orient theendoscope28. Computer processors located on theelectronics cart24 may be used to process the images of the surgical site for subsequent display to thesurgeon18 through the surgeon’sconsole16. In some embodiments, stereoscopic images may be captured, which allow the perception of depth during a surgical procedure. The number ofsurgical instruments26 used at one time will generally depend on the diagnostic or surgical procedure and the space constraints within the operative site among other factors. If it is necessary to change one or more of thesurgical instruments26 being used during a procedure, anassistant20 may remove thesurgical instrument26 from the patient-side cart22, and replace it with anothersurgical instrument26 from a tray30 in the operating room.
• FIG.2 is a perspective view of the surgeon’sconsole16. The surgeon’sconsole16 includes aviewer display31 that includes a left eye display32 and a right eye display34 for presenting thesurgeon18 with a coordinated stereoscopic view of the surgical site that enables depth perception. Theconsole16 further includes one or more hand-operated control inputs36 to receive larger-scale hand control movements. One or more surgical instruments installed for use on the patient-side cart22 move in smaller-scale distances that correspond to asurgeon 18′s larger-scale manipulation of the one or more control inputs36. The control inputs36 may provide the same mechanical degrees of freedom as their associatedsurgical instruments26 to provide thesurgeon18 with telepresence, or the perception that the control inputs36 are integral with theinstruments26 so that the surgeon has a strong sense of directly controlling theinstruments26. To this end, position, force, and tactile feedback sensors (not shown) may be employed to transmit position, force, and tactile sensations from thesurgical instruments26 back to the surgeon’s hands through the control inputs36, subject to communication delay constraints.
• FIG.3 is a perspective view of a patient-side cart22 of a minimally invasive teleoperatedsurgical system10, in accordance with some embodiments. The patient-side cart22 includes fourmechanical support arms72. A surgical instrument manipulator73, which includes actuators such as motors, to control instrument motion, is mounted at the end of eachsupport arm assembly72. Additionally, eachsupport arm72 can optionally include one or more setup joints (e.g., unpowered and/or lockable) that are used to position the attached surgical instrument manipulator73 in relation to the patient for surgery. While the patient-side cart22 is shown as including four surgical instrument manipulators73, more or fewer surgical instrument manipulators73 may be used. A teleoperated surgical system will generally include a vision system that typically includes anendoscopic camera instrument28 for capturing video images and one or more video displays for displaying the captured video images.
• In one aspect, for example, individualsurgical instruments26 andcannulas27 are removably coupled to manipulator73, with thesurgical instrument26 inserted through thecannula27. One or more teleoperated actuator motors of the manipulator73 move thesurgical instrument26 as a whole to position it in relation to apatient12. Each support arm assembly includes aninstrument carriage75. Asurgical instrument26 is detachably connected to aninstrument carriage75. In one aspect, theinstrument carriage75 houses one or more teleoperated actuator motors (not shown) inside that provide a number of controller motions that thesurgical instrument26 translates into a variety of movements of an end effector at a distal end of thesurgical instrument26. Thus, the teleoperated actuator motors within theinstrument carriage75 move individual components of thesurgical instrument26 rather than the instrument as a whole. Inputs to control either the instrument as a whole or the instrument’s components are such that the input provided by a surgeon or other medical person to a control input36 (a “master” command) are translated into a corresponding action by a surgical instrument end effector (a “slave” response). A wire cable-based force transmission mechanism or the like is used to transfer the motions of each of the remotely located teleoperated actuator motors to a corresponding instrument-interfacing actuator output located oninstrument carriage75. In some embodiments, thesurgical instrument26 is mechanically coupled to a first actuator motor, which controls a first motion of the surgical instrument such as longitudinal (z-axis) rotation. Thesurgical instrument26 is mechanically coupled to a second actuator, which controls second motion of the surgical instrument such as two-dimensional (x, y) motion. Thesurgical instrument26 is mechanically coupled to a third actuator, which controls third motion of the surgical instrument such as opening and closing of jaws of an end effector, for example.
• FIG.4 is a perspective view of asurgical instrument26 in accordance with some embodiments. Thesurgical instrument26 includes an elongated hollowtubular shaft410 having a centerlinelongitudinal axis411. Theshaft410 includes adistal end portion450 for insertion into a patient’s body cavity andproximal end portion456 that that is mechanically secured to achassis440 that mounts motor-drivendrive elements458 that impart forces to cables (not shown) extending within the shaft that are coupled to actuate asurgical end effector454. Acable drive mechanism458 may include a motor-driven spindle (not shown), for example.Actuator motors445,447 may be mounted on thechassis440 itself or on theinstrument carriage75, for example. Theend effector454 is coupled to thedistal end portion450 ofshaft410 by awrist452. Preferably,wrist452 provides at least two degrees of freedom. In some embodiments, thewrist452 is rotatable about the centerlinelongitudinal axis411, thereby providing three orientational degrees of freedom forsurgical end effector454 at a surgical site internal to a patient’s12 body cavity. The motor drivendrive elements458 exert forces upon the cables to impart motion to theend effector454 such as opening or closing of jaws and (x, y) rotational motion of a wrist, for example. A variety of alternative end effectors for alternative tools may be mounted at thedistal end portion450 of theshaft410 such as forceps, scissors, and clip applier, which include first and second end effector cantilever beams462,464 which pivot relative to each other so as to define a pair of end effector jaws, for example. Other end effectors, such as a scalpel and electrocautery probe may have a single end effector element, for example.
• FIG.5 is an illustrative perspective showing details of an control input36 mounted upon agimbal assembly528 within thesurgeon console16 ofFIG.2 in accordacne with some embodiments. The control input36, which also is referred to as a master tool manipulator (MTM), includes a mount member configured as ahandle530 and first and second articulable grip members530a,530b mounted upon thehandle530. The handle acts as a mount member to mount the first and second grip members530a,530b; The first and second grip members530a,530b upstand at an incline from opposite sides of thehandle530. The first and second grip members are inclined relative to thehandle530 with their distal ends spaced closer together and their proximal ends spaced farther apart. The first and second grip members have an angle α between their distal ends that may vary according to forces exerted by a surgeon. In some embodiments, the angle α is an acute angle. The first and second grip members530a,530b are secured to the handle to articulate relative to themount member530. More specifically, in accordance with some embodients, the first and second grip members530a,530b are secured to the handle to pivot about amaster pivot axis536 to follow a first path (not sown). A biasing member (not shown) urges the grip members530a,530b apart. A surgeon may grip the grip members530a,530b and apply forces to urge them along the first path so as to cause them to move closer together or to cause the biasing member to urge them in an oppositee direction along the first path to cause them to move apart. The mount member handle530 may include a grip actuation sensor (not shown) such as a Hall effect device to sense movement of the grip members along the first path. Finger loops may be attached to the handle to avoid slipping from the grip members. The grip members530a,530b are operatively coupled through kinematices, for example, to control motion of aslave end effector454 at thedistal end portion450 of asurgical instrument shaft410 in response to motion of the grip members530a,530b along th first path. Theslave end effector454 may include first and second cantilever beams462,464 that open and close in response to the surgeon’s causing corresponding movement of the first and second grip members530a,530b closer together and farther apart, for example.
• More particulary, in some embodiments, a four-degree offreedom gimbal528 allows rotation of the actuatable mount member handle530 about three axes, axis534a, axis534b, and axis534c. Thehandle530 is coupled to a first elbow-shaped link514 by a first pivotal joint16. First link532 is coupled to a second elbow-shapedlink537 by a pivotal joint520.Second link537 is pivotally coupled to a third elbow-shapedlink538 by a pivotal joint524. In some embodiments, motors ofarm538 andgimbal528 are capable of actively applying positional and orientational forces to mount member handle530, thereby providing tactile feedback to the surgeon. In particular, the gimbal motors can be configured through control signals to impart a feedback force F_Z,_MTM along a second path separate from the first path. In the illustrative embodiment ofFIG.5, the feedback force F_Z,_MTM is imparted parallel to anaxis531 of thehandle530 in a direction toward the vertex of the angle, which is directed perpendicular to amaster pivot axis536, such that the feedback force is felt equally by a surgeon’s fingers on each of the grip members530a,530b. Thegimbal528 includeslinks532,537,538.Gimbal528 is mounted toplatform540 so as to rotate about axis534d, and links532,537,538 define additional axes534a,534b and534c. Handle530 is mounted togimbal528 by an actively driven joint for motion about axis534d. Hence,gimbal528 provides four driven orientational degrees of freedom, including a redundant orientational degree of freedom.Gimbal528,arm538, and the driving motors for these joints are described in more detail in U.S. Pat. No. 6,714,839, entitled “Master Having Redundant Degrees of Freedom”, the full disclosure of which is expressly incorporated by this by reference.
• The grip members530a and530b of mount member handle530 pivot passively about amaster pivot axis536 with no drive motor provided for feedback from the slave to control their pivot. In the exemplary embodiment, anactuator545 is mounted to generate a master grip signal indicating the angular separation between grip members530a and530b. In some embodiments, theactuator545 includes a Hall effect transducer in one of the grip members and a magnet mounted in the other, so thathandle530 generates a master grip signal indicating the angular separation between grip members530a and530b. A biasing system urges the grip members530a and530b apart, and the grip members may include loops of Velcro™ or the like to more firmly position the grip members relative to a thumb and finger of a system operator. A wide variety of grip member structures might be used within the scope of the disclosure, including any surgical instrument handles, optionally including rigid or flexible loops for the thumb and/or fingers, for example. Control relationships between the grip members and slave end effector jaws is explained in more detail in U.S. Pat. No. 6,594,552, entitled, “Grip Strength with Tactile Feedback for Robotic Surgery”, the full disclosure of which is expressly incorporated by this by reference.
• FIG.6 is an illustrative side cross-section partially transparent view of anend effector454 of thesurgical instrument26 ofFIG.4 in accordance with some embodiments. Theend effector454 includes a first and second cantilever beams462,464 disposed at adistal end450 of theshaft410 of thesurgical instrument26. Thefirst cantilever beam462 is mounted for rotation about aslave pivot axis602. Theend effector454 is mounted at thedistal end portion450 of theelongated shaft410. The first and second cantilever beams462,464 act as first and second jaws that may be opened to captureanatomical tissue603 between them and may be closed to grip theanatomical tissue603 between them. Thefirst cantilever beam462 may act as a first jaw. Thesecond cantilever beam464 may act as a second jaw. In some embodiments, thefirst cantilever beam462 is rotatable about theslave pivot axis602 and thesecond cantilever beam464 has a fixed position at the distal end of the shaft such that thefirst cantilever beam462, acting as a first jaw, moves relative to the fixedsecond cantilever beam464, acting as the second jaw. In an alternative embodiment (not shown), both the first and second cantilever beams462,464 may be rotatable about theslave pivot axis602, for example. Thefirst cantilever beam462 that is integrally secured to afirst pulley604, which is rotatably mounted to a clevis606 (represented by dashed lines) to rotate in unison about theslave pivot axis602. Afirst cable608 extends longitudinally within thehollow shaft410. A proximal end (not shown) of thefirst cable608 is operatively coupled to an actuator motor to impart a first cable force F_C1 upon the cable to rotate thefirst beam462 toward thesecond beam464 to ‘close’ the jaws. A distal end portion of the first cable wraps about a perimeter groove portion of thefirst pulley604. Ananchor610, such as a crimp in thefirst cable608, secures a distal end of thefirst cable606 to the first cantilever beam so that a first cable force F_C1 exerted in a proximal direction upon a proximal end of thefirst cable608 imparts a force upon the distal end of the first cable that the rotatably mountedfirst cantilever beam462 translates to a rotational force F_C1 exerted at a working/tissue engagement surface612 of thefirst cantilever beam462 in a direction that is normal to theslave pivot axis602, to urge rotation of thefirst cantilever beam462 in a direction toward thesecond beam464 to close the jaws.
• A distal end portion of asecond cable614 that extends longitudinally within thehollow shaft410 wraps about a perimeter groove portion of a second pulley (not shown) mounted to theclevis606 in parallel with thefirst pulley604. A proximal end (not shown) of thesecond cable614 is operatively coupled to an actuator motor to impart a second cable force F_C2 upon thesecond cable614 to rotate thefirst beam462 awayd thesecond beam464 to ‘open’ the jaws. A distal end of thesecond cable614 is secured to thefirst cantilever beam462 such that a proximal direction second cable force F_C2 exerted on thesecond cable614 imparts causes the rotatably mountedfirst cantilever beam462 to rotate in a direction away from thesecond beam464 to open the jaws. In some embodiments the first andsecond cables608,614 include center segments that include elongated tubules and end segments that comprise wire.
• During gripping ofanatomical tissue603, for example, acable drive mechanism458 described above, causes thefirst cable608 to exert the first cable force F_C axially upon thefirst cable608 to a impart rotation force to thefirst cantilever beam462 that balances a slave grip counter-force F_grip imparted to the workingsurface612 of thefirst cantilever beam462 by the grippedtissue603. The grip counter-force F_grip balances the first beam force first cable force F_C. The balanced first cable force F_C and the grip force F_grip each produce a grip moment about the slave pivot axis, M_grip represented in the following formulation.
• $\begin{array}{cc}{M}_{grip}=F_{grip}\cdot L=F_c\cdot l& \text{­­­(1)}\end{array}$
• where L represents a distance from the point where the slave grip force F_grip is applied to the slave pivot axis, and 1 represents a distance from thefirst cable anchor610, where thefirst cable608 is secured to thefirst cantilever beam462, and theslave pivot axis602. Thus, during gripping ofanatomical tissue603, the first cable force F_C has a magnitude to counter-balance the slave grip force F_grip.
• FIG.7 is an illustrative side view of thechassis440 of thesurgical instrument26 ofFIG.4 suspended from asupport beam702 in accordance with some embodiments. Thechassis440 is secured to theproximal end portion456 of theshaft410 of thesurgical instrument26. A first end portion704 of thesupport beam702 is secured to thechassis440 and a second end portion706 of thesupport beam702 is secured to a mechanical ground708. The support beam has a longitudinal axis710 (the beam axis) that extends between its first and second ends704,706. In some embodiments, amechanical support arm72 acts as the mechanical ground708. Thecenter axis411 of thehollow tube410 is normal to thesupport beam axis710.
• A strain sensor712 contacts thesupport beam702 and is configured to measure strain imparted to thesupport beam702. In some embodiments, the strain sensor includes resistive strain gauge, optical fiber Bragg grating, piezoelectric sensor. Strain is a measure of the amount of deformation of a body, such as the support beam and thestrain sensor702, due to an applied force. More specifically, strain can be defined as the fractional change of length. The mechanical ground708 acts as a fixed reference structure that does not exhibit strain due to the cable force F_C or a slave grip force F_grip.
• Athird pulley714 is rotatably secured to thechassis440. A proximal end portion of thefirst cable608 wraps about a perimeter groove portion of thethird pulley714. A first cable drive mechanism458a, which is secured to the mechanical ground708, is configured to impart the first force F_C upon thefirst cable608. In some embodiments, the first cable drive mechanism458a includes a motor driven rotatable spindle mechanically coupled to a proximal end portion of thefirst cable608. Thethird pulley714 and the first cable drive mechanism458a are disposed at a vertical offset from each other relative to thesupport beam axis702 such that a proximal segment608a of thefirst cable608 between them extends at an offset angle θ from thesupport beam axis710. The first cable drive mechanism458a may impart a first cable force F_C to the offset angled first cable segment608a to close the jaws. The first cable force F_C applied to the offset first cable segment608a results in a first cable offset force component F_Csinθ upon thesupport beam702 that is parallel to theshaft axis411 and normal to thesupport beam axis710 and a first cable offset force component F_Ccosθ upon thesupport beam702 that is perpendicular to theshaft axis411 and that is parallel to thebeam axis710. In reaction to the first cable force components, thesupport beam702 produces reactive normal and parallel beam forces Rx and Rz. The reactive beam force Rz, which shall be referred to herein as F_Z,_PSC, the z-force measured on the system side, acts as a strain force applied at the first end704 of thesupport beam702. The strain force F_z is imparted in a direction normal to the support beam axis.
• It will be appreciated that the first cable force F_C imparted by the first cable within the shaft in a direction normal to thesupport beam axis710 is balanced by an equal and opposite proximal-direction end effector force F_C′ resulting in a net force of zero upon the beam due to forces imparted to first cable segments within the shaft. Outside the shaft, however, the offset angled first cable segment608a exerts a net force F_Csinθ normal to the support beam and in response, the support beam produces an opposing reactive force F_Z.
• A fourth pulley716 is secured to thechassis440. A proximal end portion of thesecond cable614 wraps about a perimeter groove portion of the fourth pulley716. A second cable drive mechanism458b, which is secured to the mechanical ground708, is configured to impart a second cable force F_C2 upon thesecond cable614 to open the jaws. In some embodiments, the second cable drive mechanism458b includes a motor driven rotatable spindle mechanically coupled to a proximal end portion of thesecond cable614. The fourth pulley716 and the second cable drive mechanism458b are disposed level with each other without a vertical offset between them relative to thesupport beam702 such no net normal force is exerted by a level second cable segment614a extending between the fourth pulley716 and the secondcable drive mechanism458b.The strain force F_Z experienced by thesupport beam702 due to the offset angled first cable segment608a is a reactive force imparted that balances the net first cable force F_Csinθ imparted to thesupport beam702. The strain force F_Z imparts a strain to thesupport beam702 and to the strain sensor712. The relationship between the net normal force F_Csinθ and the strain force Fz imparted to thestrain sensor702 is represented by the following formulation (2).
• $\begin{array}{cc}{F}_{z,PSC}=F_{c}sin\theta +F_{cd}-F_{cp}=F_{c}sin\theta =\frac{M_{grip}}{l}sin\theta & \text{­­­(2)}\end{array}$
• The strain sensor produces a sensor signal Ss that has a magnitude indicative of the magnitude of the strain force F_Z,_PSC, which in turn is proportional to a magnitude of the grip moment M_grip about the slave pivot axis, M_grip. In some embodiments, the signal may be a change in voltage on a Wheatstone bridge (not shown) produced by a resistance change on a strain gauge.
• FIG.8 is an illustrative free body diagram to show forces upon the grip members of a master control input and a surgeon’s fingers in accordance with some embodiments. During a surgical procedure, a surgeon’s fingers are placed on outside grip surfaces of the first and second grip members530a,530b. The first and second grip members530a,530b haveproximal ends530ap,530bp anddistal ends530ad,530bd. The distal ends530ad,530bd of the first and second grip members are pivotally mounted to pivot about themaster pivot axis536 and are offset from each other by an angle α. A surgeon’s fingers802a,802b may apply fingertip forces to the first and second grip members530a,530b to move them along the firs path850 about the master pibot axis536, to move them closer together or farther apart so as to command corresponding movements of the first and second cantilever beams462,464 of theend effector454. Specifically, for example, moving the proximal ends530ap,530bp of the first and second grip members530a,530b in a direction along the first path850 to bring them closer together, which reduces the angle α between them, causes the first and seocond cantilever beams462,464 to move closer together, closing the end effector jaws. Conversely, for example, moving the proximal ends530ap,530bp of the first and second grip members530a,530b in an opposite direction along the first path850 to space them farther apart from each other, which increases the angle α between them, causes the first and second cantilever beams to move farther apart, opening the end effector jaws. U.S. Pat. No. 6,594,552, which is incorporated in its entirety by this reference above explains grip member control of end effectors in accordance with some embodiments. Thus, the angle α between the distal ends530ad,530bd of the first and second grip members determines the postions of the corresponding first and second cantilever beams at the end effector.
• More particularly, a bias member, such as a bias spring804, provides a bias force F_spring to urge the first and second grip members530a,530b away from each other. A surgeon may apply forces -F_N, which are normal to longitudinal axes806a,806b of the first and second grip members530a,530b. The surgeon-applied force -F_N rotates the first and second grip members along the first path850 about the master pivot axis533 to bring theirproximal end portions530ap,530bp closer together, redcuing the angle α, between them, and commanding the imparting of the first cable force F_C to cause the first and second cantilever beams462,464 at theend effector454 to move closer together. Addtionally, the surgeon’s fingers802a,802b may impart surface forces -µ_SF_N, which are parallel to surfaces of the first and second grip members530a,530b, in cobination with the surgeon-imparted normal forces -F_N.
• The first and second grip members530a,530b impart opposite direction normal forces F_N to the surgeon’s fingers802a,802b in reaction to the surgeon-imparted normal forces -F_N. The first and second grip members530a,530b also impart opposite direction surface forces µ_SF_N in reaction to the surgeon-imparted surface forces -µ_SF_N.
• Thus, in accordance with some embodiments, the first and second cantilever beams462,464 correspond to the first and second grip master members530a,530b. Larger scale motions imparted by a surgeon’s fingers to the master members530a,530b are translated to corresponding smaller scale motions of the first and second cantilever beams462,464. In particular, in accordance with some embodiments, for example, a rotation of the master members530a,530b about themaster pivot axis536 is translated to corresponding rotation of the first and second cantilever beams462,464 aboutslave pivot axis602. In some embodiments, for example, translation of movement of the master members530a,530b translates to corresponding movemrent of the first and second cantilever beams462,464 such that an angle α about themaster pivot axis536 between the master members530a,530b matches an angle αslave pivot axis602 between the first and second cantilever beams462,464. It is noted that during routine operation, the surgeon imparted forces and the grip member reaction forces are balanced. During routine operation, a friction force at the grip members530a,530b is static friction, which is just enough to match the parallel surface forces applied by the surgeon’s fingers802a,802b at the grip members. It will be apprecated that reaction surface forces µ_sF_N are less than a maximum permitted surface friction force F_fr at which the grip members530a,530b start sliding in the surgeon’s fingers802a,802b, causing the surgeon’s finger’s to lose their grip, at which point the surgeon may need to apply an increased normal force to increase the surface friction to stop the sliding. The relationship between surface force µ_sF_N and maximum permitted F_fr is represented by the following formulation.
• $\begin{array}{cc}{F}_{fr,max}={\mu }_s{F}_N& \text{­­­(3)}\end{array}$
• In operation, a moment imparted by asurgeon18 at distance a D from themaster pivot axis536 equals and is balanced by a moment imparted by the bias spring804 at a distance d from thepivot axis536. If it is assumed that a torsional spring has a sping force in indicated in the formulation.
• $\begin{array}{cc}{F}_{spring}=k\left({\text{α}}_0-\text{α}\right)& \text{­­­(4)}\end{array}$
• where k is the spring constant.
• If it is assumed that α_o is the initial angular position, then the normal force F_N is directly related to the angle α by the moment balance the following formulation.
• $\begin{array}{cc}{F}_{N}D=F_{spring}d=k\left({\text{α}}_0-\text{α}\right)d& \text{­­­(5)}\end{array}$
• Thus,
• $\begin{array}{cc}{F}_N=\frac{k\left({\text{α}}_0-\text{α}\right)d}{D}& \text{­­­(6)}\end{array}$
• In view of equation (6), it will be appreciated that normal force F_N cannot be modulated directly to display the grip force to the surgeon without changing the α, which would be detrimental to performance since it would affect the gripping angle of the first and second cantilever beams462,464 at theend effector454. However, the inventor herein realized that a feedback surface force F_Z,_MTM imparted to mountmember530, and through it, to the first and second grip members530a,530b mounted thereon, along asecond path852 in a direction toward the pivot axis533 and toward apalm808 of the surgeon’s hand may be modulated to increase a surface feedback force imparted to the fingers802a,802b to thereby display an indication of a magnitude of the grip force moment M_grip at theend effector454.
• An upper limit of the feedback force F_Z,_MTM is dependent on the amount of force required to make the grip members slip against the surgeon’s fingers by overcoming static friction:
• $\begin{array}{cc}{F}_{z,MTM}\le 2\cdot \left(F_{N}sina\text{+}{F}_{fr,max}cos\alpha \right)=2\cdot \left(F_{N}sin\alpha +{\mu }_s{F}_{N}cos\alpha \right)& \text{­­­(7)}\end{array}$
• $\begin{array}{cc}{F}_{z,MTM}\le 2\cdot \left(\frac{k\left({\text{α}}_0-\text{α}\right)d}{D}\right)\cdot \left(sin\alpha +{\mu }_s\cos \alpha \right)& \text{­­­(8)}\end{array}$
• Since all of the values on the right are known (with the exception of the static friction coefficient, which may be estimated), this provides an upper limit for the F_Z,_MTM that can be commanded. A master-side feedback force F_Z,_MTM may be imparted along thesecond path852 toward the grip members530a,530b in a direction perpendicular to themaster pivot axis536 to indicate a magnitude of a sensor signal S_S, which is indicative of the grip moment M_grip at theslave end effector454. Providing the master-side feedback force along thesecond path852 separate from the first path850 ensures that the user is provided an indication of magnitude of the slave force distinguishable from a bias force provided by the spring804. Moreover, providing the master-side feedback force in a direction that is perpendicular to themaster pivot axis536 ensures that equal feedback forces are imparted to them, since in accordance with some embodiments, the grip paddles530a are constrained to be symmetric. More particulalry, motors that control thegimbal assembly528 may be controlled to impart a feedback force F_Z,_MTM to thehandle530 upon which the first and second grip members530a,530b are mounted that may be sensed by a surgeon through fingers802a,802b and that provide an indication of slave grip force F_grip. Moreover, a magnitude of the feedback force F_Z,_MTM may be modulated according to a magnitude of the sensor signal Ss, which is indicative of a magnitude of the grip moment M_grip and the slave grip force F_grip.
• In some embodiments, a magnitude of a surface feedbackforce transferred to the fingers802a,802b is the friction component of the force:
• $\begin{array}{cc}{F}_{z,MTM}=2\cdot \left(F_{N}sin\alpha +F_{fr}cos\alpha \right)& \text{­­­(9)}\end{array}$
• $\begin{array}{cc}{F}_{fr}=\frac{F_{z,MTM}}{2\cdot cos\alpha }-\frac{k\left(\alpha -{\alpha }_0\right)d\cdot tan\alpha }{D}& \text{­­­(10)}\end{array}$
• For a given angle α this friction force F_fr felt at the fingers802a,802b is linear with the feedback surface force F_Z,_MTM and therefore, the feedback force F_Z,_MTM can be modulated linearly to control the surface feedback friction component F_fr of the feedack feedback force F_Z,_MTM that is felt by the surgeon and to limit the feedback friction component F_fr to a magnitude less than an magnitude required to make the grip members530a,530b slip against the surgeon’s fingers. Maintaining a feedback force within the upper limit ensures that finger slippage does not occur that may cause pivotal movement pivotal of the grip members530a,530b about themaster pivot axis536 that could be translated to movement of the cantilever beams462,464 about theslave pivot axis602. In other words, the shear force upper limit ensures that a feedback force intended to a feedback force to display to a surgeon a magnitude of a slave grip force at theend effector454 does not cause a change in rotational positions of the cantilever beams462,464 at theend effector454.
• FIG.9 is an illustrative control system flow diagram900 representing a transformation of a reactive beam force to a feedback force in accordance with some embodiments. A reactive beam force F_Z,_PSC imparts a strain go the sensor712, which produces a sensor signal Ss having a magnitude that is proportional to a magnitude of the reactive beam force F_Z,_PSC, which is proportional to a grip moment M_grip and a slave grip force F_grip. Aconverter block902 converts the sensor signal Ss to a feedback force master control signal S_S,_MTM. In some embodiments, theconverter block902 produces an S_S,_MTM signal having a magnitude that is a linear function of a magnitude of the sensor signal Ss. Amotor control block904 is configured to produce one or more motor control signals S_M in response to the S_S,_MTM signal, to controlmotors906 that produce forces F_M to control motion of thegimbal assembly528 to impart a feedback force F_Z,_MTM having a magnitude that is proportional to a magnitude of the S_S,_MTM signal and that is limited to avoid slippage of the first and second master grip members530a,530b in a surgeon’s fingers. In some embodiments, the computer processors located on the electronics cart24 are configured to determine the S_S,_MTM signal as a linear function of the S_S signal. Moreover, in some embodiments, the computer processors located on the electronics cart24 are configured to produce the one or more motor control signals S_M based upon the S_S,_MTM signal. In various other embodiments, the motor control signals S_M can cause an oscillating (e.g., vibrating) feedback force F_MTM (not shown) at the master having a second path that is an oscillation path separate from the first path and having a parameter proportional to a magnitude of the S_S,_MTM signal (e.g., amplitude or frequency of oscillation of force F_MTM).
• Although illustrative embodiments have been shown and described, a wide range of modification, change and substitution is contemplated in the foregoing disclosure and in some instances, some features of the embodiments may be employed without a corresponding use of other features. One of ordinary skill in the art would recognize many variations, alternatives, and modifications. For example, although mechanically supported masters are depicted and described for exemplary purposes, in various embodiments the masters can be wireless or connected to the system only by wires (“ungrounded”). In one alternative embodiment, for example, a master may include a joy stick grip member mounted to a mount member, wirelessly coupled to control a slave end effector in response to movement of the joy stick. In another alternative embodiment, for example, a master may include a pistol trigger grip member in which a trigger grip member is mounted to a pistol-shaped mount member, wirelessly coupled to control a slave end effector in response to movement of the trigger. Thus, the scope of the disclosure should be limited only by the following claims, and it is appropriate that the claims be construed broadly and in a manner consistent with the scope of the embodiments disclosed herein. The above description is presented to enable any person skilled in the art to create and use a surgical system having an end effector force coupled to provide a corresponding master controller feedback force. Various modifications to the embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments and applications without departing from the scope of the invention. In the preceding description, numerous details are set forth for the purpose of explanation. However, one of ordinary skill in the art will realize that the invention might be practiced without the use of these specific details. In other instances, well-known processes are shown in block diagram form in order not to obscure the description of the invention with unnecessary detail. Identical reference numerals may be used to represent different views of the same or similar item in different drawings. Thus, the foregoing description and drawings of embodiments in accordance with the present invention are merely illustrative of the principles of the invention. Therefore, it will be understood that various modifications can be made to the embodiments by those skilled in the art without departing from the scope of the invention, which is defined in the appended claims.

Claims (21)

1-34. (canceled)

35. A teleoperated surgical system comprising:

a surgical instrument including an end effector, the end effector having an end effector pivot axis;

a master tool manipulator operably coupled to the end effector, the master tool manipulator including a grip member movable along a first path; and

a control system operably coupled to the surgical instrument and the master tool manipulator, the control system including at least one processor;

wherein the control system performs a plurality of operations including:

moving the end effector about the end effector pivot axis in response to a movement of the grip member along the first path,

determining a magnitude of a moment about the end effector pivot axis resulting from the moving of the end effector, and

providing a feedback force to the master tool manipulator along a second path, the second path being different from the first path, and the feedback force being based at least in part on the magnitude of the moment about the end effector pivot axis.

36. The teleoperated surgical system ofclaim 35, wherein:

the teleoperated surgical system includes a sensor operably coupled to the surgical instrument; and

the sensor is positioned to output a sensor signal having a magnitude indicative of the moment about the end effector pivot axis.

37. The teleoperated surgical system ofclaim 36, wherein:

the sensor signal is associated with a strain; and

determining the magnitude of the moment includes determining the magnitude of the moment based on a magnitude of the strain.

38. The teleoperated surgical system ofclaim 35, wherein:

the second path is in a direction toward a palm of a hand of an operator on a condition that the hand of the operator is engaged with the master tool manipulator.

39. The teleoperated surgical system ofclaim 38, wherein:

the plurality of operations includes establishing the feedback force at a magnitude less than a magnitude required to cause the grip member to slip within the hand of the operator.

40. The teleoperated surgical system ofclaim 35, wherein:

the master tool manipulator has a master tool manipulator pivot axis; and

the grip member is pivotably coupled to move about the master tool manipulator pivot axis along the first path.

41. The teleoperated surgical system ofclaim 40, wherein:

the second path is perpendicular to the master tool manipulator pivot axis.

42. The teleoperated surgical system ofclaim 40, wherein:

the master tool manipulator includes a handle;

the grip member includes an end pivotably coupled to the handle at the master tool manipulator pivot axis;

the handle defines a first longitudinal axis orthogonal to the master tool manipulator pivot axis; and

the second path is parallel to the first longitudinal axis.

43. The teleoperated surgical system ofclaim 42, wherein:

the grip member defines a second longitudinal axis that extends perpendicular to the master tool manipulator pivot axis;

the second longitudinal axis intersects the first longitudinal axis; and

the movement of the grip member along the first path changes an angle defined by the intersection of the first longitudinal axis and the second longitudinal axis.

44. The teleoperated surgical system ofclaim 40, wherein:

the grip member is a first grip member;

the master tool manipulator includes a second grip member;

the first grip member and the second grip member are coupled to pivot with reference to one another about the master tool manipulator pivot axis; and

the second grip member is movable along the first path.

45. The teleoperated surgical system ofclaim 44, wherein:

the feedback force is based at least in part on a magnitude of a moment about the master tool manipulator pivot axis and an angular separation between the first grip member and the second grip member relative to the master tool manipulator pivot axis.

46. The teleoperated surgical system ofclaim 45, wherein:

the feedback force is delivered along the second path without altering the angular separation between the first grip member and the second grip member relative to the master tool manipulator pivot axis.

47. The teleoperated surgical system ofclaim 44, wherein:

the master tool manipulator further includes a bias member positioned to urge the first grip member apart from the second grip member along the first path.

48. The teleoperated surgical system ofclaim 47, wherein:

the bias member includes a spring that has a spring constant; and

the feedback force is based at least in part on the magnitude of the moment about the master tool manipulator pivot axis, an angular separation between the first grip member and the second grip member relative to the master tool manipulator pivot axis, and the spring constant.

49. The teleoperated surgical system ofclaim 44, wherein:

the end effector includes a first jaw and a second jaw pivotally coupled to pivot with reference to one another about the end effector pivot axis;

the first jaw is pivotable about the end effector pivot axis in response to a movement of the first grip member along the first path; and

the second jaw is pivotable about the end effector pivot axis in response to a movement of the second grip member along the first path.

50. The teleoperated surgical system ofclaim 49, wherein:

the surgical instrument includes an elongated hollow shaft, a plurality of tension members extending within the elongated hollow shaft and operably coupled to the first jaw and the second jaw, and one or more actuators operably coupled to the plurality of tension members;

the shaft includes a distal end portion and a proximal end portion; and

the first jaw and the second jaw are pivotally coupled to pivot with reference to one another about the end effector pivot axis at the distal end portion of the shaft.

51. The teleoperated surgical system ofclaim 50, wherein:

the plurality of tension members includes one or more tension members coupled to cause the first jaw to rotate about the end effector pivot axis in response to a force imparted to the one or more tension members.

52. The teleoperated surgical system ofclaim 51, wherein:

the one or more actuators are arranged to impart the force to the one or more tension members to cause the first jaw to rotate toward the second jaw in response to a movement of the first grip member relative to the master tool manipulator pivot axis.

53. The teleoperated surgical system ofclaim 51, wherein:

the one or more actuators are arranged to impart the force to the one or more tension members to cause the first jaw and the second jaw to pivot about the end effector pivot axis in response to a movement of the first grip member and the second grip member relative to the master tool manipulator pivot axis; and

the pivoting of the first jaw and the second jaw about the end effector pivot axis reduces an angular separation between the first jaw and the second jaw.

54. The teleoperated surgical system ofclaim 53, wherein:

the angular separation between the first jaw and the second jaw is a gripping angle of the end effector; and

the feedback force is delivered along the second path without altering the gripping angle of the end effector.

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